Re: [Paparazzi-devel] Using Paparazzi board as failsafe

[Nathan Aherne]

Hi Felix,

Thank you very much for this, it is working as advertised. To get the changes I 
updated from SVN but now I am getting the error while building

main_ap.c:262:1: error: macro "DOWNLINK_SEND_BAT" passed 9 arguments, but takes 
just 8
main_ap.c: In function ‘reporting_task’:
main_ap.c:262: error: ‘DOWNLINK_SEND_BAT’ undeclared (first use in this 
function)
main_ap.c:262: error: (Each undeclared identifier is reported only once
main_ap.c:262: error: for each function it appears in.)
main_ap.c:262: warning: unused variable ‘e’
main_ap.c:262: warning: unused variable ‘zero’

Kindest regards,
 
Nathan Aherne
Email: address@hidden
Mob: 0402 555 080

On 25/09/2010, at 11:02 PM, Felix Ruess wrote:

> you might also want to take a look at the EMAV2009.xml flight plan
> (which includes EMAV2009_safety.xml as a procedure)....
> 
> On Sat, Sep 25, 2010 at 2:57 PM, Felix Ruess <address@hidden> wrote:
>> Hi Nathan,
>> 
>> I just updated the servo_switch module a bit. I can't test it at the
>> moment, but it *should* work as advertised ;-)
>> 
>> Have a look at the mentor_tum.xml airframe... there it is used.
>> 
>> Now you only have to declare a servo in your airframe.xml that you
>> want to use. Previously you had to set up commands, command laws as
>> well.
>> 
>> By default the servo_switch module looks for a servo called SWITCH.
>> The switch on value is 2000us and switch off is 1000us by default.
>> If you want to use a different servo/values you can set that in the
>> modules section, e.g. for a servo named KILL:
>>  <load name="servo_switch.xml">
>>      <param name="SERVO_SWITCH_ON_VALUE"  value="1100"/>
>>      <param name="SERVO_SWITCH_OFF_VALUE" value="1900"/>
>>      <param name="SERVO_SWITCH_SERVO"     value="SERVO_KILL"/>
>>  </load>
>> 
>> In your flight plan you just call the makro defined in servo_switch.h
>>   <call fun="ServoSwitchOn()"/>
>> or
>>   <call fun="ServoSwitchOff()"/>
>> respectively.
>> 
>> Cheers, Felix
>> 
>> On Sat, Sep 25, 2010 at 8:51 AM, Nathan Aherne <address@hidden> wrote:
>>> Hi All,
>>> 
>>> I have updated my paparazzi code and found the servo switch module, this 
>>> should work fine fore me. What I would like to know is how to use this 
>>> module (how to call servo_switch from within the flight plan) and set the 
>>> servo to either min or max. Also how do I declare which servo output to use?
>>> 
>>> Kindest regards,
>>> 
>>> Nathan Aherne
>>> Email: address@hidden
>>> Mob: 0402 555 080
>>> 
>>> On 25/09/2010, at 3:37 PM, Nathan Aherne wrote:
>>> 
>>>> These are the relevant part of my flight plan in regards to the failsafe 
>>>> action. The rest is just some of the competition waypoints.
>>>> 
>>>> You will see I have implemented the Holdingpoint block so that the Kill 
>>>> block is not run. I would like to understand if there is an easier way to 
>>>> implement this crash failsafe than this, and output to a servo 1000ms or 
>>>> 2000ms. Thanks for your help in advance!
>>>> 
>>>>    <sector color="red" name="MissionBoundary">
>>>>      <corner name="MB1"/>
>>>>      <corner name="MB2"/>
>>>>      <corner name="MB3"/>
>>>>      <corner name="MB4"/>
>>>>      <corner name="MB5"/>
>>>>      <corner name="MB6"/>
>>>>      <corner name="MB7"/>
>>>>      <corner name="MB8"/>
>>>>      <corner name="MB9"/>
>>>>      <corner name="MB10"/>
>>>>      <corner name="MB11"/>
>>>>    </sector>
>>>>  </sectors>
>>>>  <exceptions>
>>>>      <exception cond="! InsideMissionBoundary(estimator_x, estimator_y)" 
>>>> deroute="Kill"/>
>>>>  </exceptions>
>>>>  <blocks>
>>>> <!-- FLIGHT PLAN -->
>>>>    <block name="Wait GPS">
>>>>      <set value="1" var="kill_throttle"/>
>>>>      <while cond="!GpsFixValid()"/>
>>>>    </block>
>>>>    <block name="Geo init">
>>>>      <while cond="LessThan(NavBlockTime(), 10)"/>
>>>>      <call fun="NavSetGroundReferenceHere()"/>
>>>>      <set value="0" var="estimator_flight_time"/>
>>>>    </block>
>>>>    <block name="Holding point">
>>>>      <call fun="NavSetWaypointHere(WP_STPT)"/>
>>>>      <set value="1" var="kill_throttle"/>
>>>>      <attitude roll="0" throttle="0" vmode="throttle"/>
>>>>    </block>
>>>>    <block key="c" name="KILL" strip_button="KILL" strip_icon="kill.png">
>>>>      <go wp="CRASH" vmode="throttle" pitch="kill_pitch"/>
>>>>    </block>
>>>> 
>>>> Kindest regards,
>>>> 
>>>> Nathan Aherne
>>>> Email: address@hidden
>>>> Mob: 0402 555 080
>>>> 
>>>> On 25/09/2010, at 2:58 PM, Nathan Aherne wrote:
>>>> 
>>>>> We would like to use the Paparazzi as a failsafe in this years outback 
>>>>> challenge, plus use its other features to control and report back certain 
>>>>> tests and conditions. We are using the paparazzi for this because it 
>>>>> supplies so much more data than our commercial autopilot.
>>>>> 
>>>>> The failsafe part just needs to output 2000ms or 1000ms on a servo output 
>>>>> if the aircraft goes over the mission boundary. I have already built some 
>>>>> code, but it seems there must be a simpler way to get the autpilot to do 
>>>>> this, could someone help me out with this one please? Some sample code 
>>>>> would be great and possibily an explanation of what I need to initialise.
>>>>> 
>>>>> I am only wanting to run the GPS, Xbee and TWOG if possible.
>>>>> 
>>>>> Thanks in advance!
>>>>> 
>>>>> Kindest regards,
>>>>> 
>>>>> Nathan Aherne
>>>>> Email: address@hidden
>>>>> Mob: 0402 555 080
>>>>> 
>>>>> 
>>>>> _______________________________________________
>>>>> Paparazzi-devel mailing list
>>>>> address@hidden
>>>>> http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>>>> 
>>>> 
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